Menu
▾
▴
[simspark-svn] SF.net SVN: simspark:[99] trunk/spark
|
From: <a-...@us...> - 2009-11-17 11:29:38
|
Revision: 99
http://simspark.svn.sourceforge.net/simspark/?rev=99&view=rev
Author: a-held
Date: 2009-11-17 11:29:29 +0000 (Tue, 17 Nov 2009)
Log Message:
-----------
Reverted changes in last revision
added abstract layer on World via bridge pattern
refactored CappedCylinder to Capsule
moved ODE-specific classes to a new ODE folder
moved implementation classes to a new imp folder
Modified Paths:
--------------
trunk/spark/lib/oxygen/CMakeLists.txt
trunk/spark/lib/oxygen/oxygen.cpp
trunk/spark/lib/oxygen/oxygen.h
trunk/spark/lib/oxygen/physicsserver/body.cpp
trunk/spark/lib/oxygen/physicsserver/body.h
trunk/spark/lib/oxygen/physicsserver/boxcollider.h
trunk/spark/lib/oxygen/physicsserver/collider.h
trunk/spark/lib/oxygen/physicsserver/collisionhandler.h
trunk/spark/lib/oxygen/physicsserver/joint.h
trunk/spark/lib/oxygen/physicsserver/physicsserver.h
trunk/spark/lib/oxygen/physicsserver/space.h
trunk/spark/lib/oxygen/physicsserver/world.cpp
trunk/spark/lib/oxygen/physicsserver/world.h
trunk/spark/lib/oxygen/physicsserver/world_c.cpp
trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp
trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.h
Added Paths:
-----------
trunk/spark/lib/oxygen/physicsserver/imp/
trunk/spark/lib/oxygen/physicsserver/imp/worldimp.h
trunk/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp
trunk/spark/lib/oxygen/physicsserver/ode/
trunk/spark/lib/oxygen/physicsserver/ode/odeobject.cpp
trunk/spark/lib/oxygen/physicsserver/ode/odeobject.h
trunk/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp
trunk/spark/lib/oxygen/physicsserver/ode/odeworld.cpp
trunk/spark/lib/oxygen/physicsserver/ode/odeworld.h
trunk/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp
trunk/spark/lib/oxygen/physicsserver/ode/odewrapper.h
Removed Paths:
-------------
trunk/spark/lib/oxygen/physicsserver/odeobject.cpp
trunk/spark/lib/oxygen/physicsserver/odeobject.h
trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp
trunk/spark/lib/oxygen/physicsserver/odewrapper.h
Modified: trunk/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- trunk/spark/lib/oxygen/CMakeLists.txt 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/CMakeLists.txt 2009-11-17 11:29:29 UTC (rev 99)
@@ -21,8 +21,6 @@
physicsserver/collider.h
physicsserver/collisionhandler.h
physicsserver/contactjointhandler.h
- physicsserver/odeobject.h
- physicsserver/odewrapper.h
physicsserver/physicsserver.h
physicsserver/planecollider.h
physicsserver/raycollider.h
@@ -41,6 +39,15 @@
physicsserver/universaljoint.h
physicsserver/hinge2joint.h
physicsserver/angularmotor.h
+
+ #interfaces
+ physicsserver/imp/worldimp.h
+
+ #ode-specific files
+ physicsserver/ode/odeobject.h
+ physicsserver/ode/odeworld.h
+ physicsserver/ode/odewrapper.h
+
sceneserver/sceneimporter.h
sceneserver/basenode.h
sceneserver/fpscontroller.h
@@ -116,8 +123,6 @@
physicsserver/collisionhandler_c.cpp
physicsserver/contactjointhandler.cpp
physicsserver/contactjointhandler_c.cpp
- physicsserver/odeobject.cpp
- physicsserver/odeobject_c.cpp
physicsserver/physicsserver.cpp
physicsserver/physicsserver_c.cpp
physicsserver/planecollider.cpp
@@ -152,6 +157,16 @@
physicsserver/hinge2joint_c.cpp
physicsserver/angularmotor.cpp
physicsserver/angularmotor_c.cpp
+
+ #interfaces
+ physicsserver/imp/worldimp_c.cpp
+
+ #ODE-specific files
+ physicsserver/ode/odeworld.cpp
+ physicsserver/ode/odeworld_c.cpp
+ physicsserver/ode/odeobject.cpp
+ physicsserver/ode/odeobject_c.cpp
+
sceneserver/basenode.cpp
sceneserver/basenode_c.cpp
sceneserver/fpscontroller.cpp
Modified: trunk/spark/lib/oxygen/oxygen.cpp
===================================================================
--- trunk/spark/lib/oxygen/oxygen.cpp 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/oxygen.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -57,9 +57,9 @@
zg.GetCore()->RegisterClassObject(new CLASS(BodyController), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(DragController), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(VelocityController), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(ODEObject), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Space), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(World), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(WorldImp), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Joint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(BallJoint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(HingeJoint), "oxygen/");
@@ -86,6 +86,11 @@
zg.GetCore()->RegisterClassObject(new CLASS(AgentAspect), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Effector), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Perceptor), "oxygen/");
+
+ //ODE-specific classes
+ zg.GetCore()->RegisterClassObject(new CLASS(ODEObject), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(ODEWorld), "oxygen/");
+
#ifdef HAVE_SPADES_HEADERS
// spades
Modified: trunk/spark/lib/oxygen/oxygen.h
===================================================================
--- trunk/spark/lib/oxygen/oxygen.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/oxygen.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -34,6 +34,7 @@
#include "gamecontrolserver/actionobject.h"
#include "gamecontrolserver/behavior.h"
+//abstract physics classes
#include "physicsserver/body.h"
#include "physicsserver/bodycontroller.h"
#include "physicsserver/dragcontroller.h"
@@ -42,7 +43,6 @@
#include "physicsserver/boxcollider.h"
#include "physicsserver/ccylindercollider.h"
#include "physicsserver/collider.h"
-#include "physicsserver/odeobject.h"
#include "physicsserver/physicsserver.h"
#include "physicsserver/planecollider.h"
#include "physicsserver/raycollider.h"
@@ -60,6 +60,13 @@
#include "physicsserver/universaljoint.h"
#include "physicsserver/hinge2joint.h"
+//physics interfaces
+#include "physicsserver/imp/worldimp.h"
+
+//ode-specific includes
+#include <oxygen/physicsserver/ode/odeobject.h>
+#include <oxygen/physicsserver/ode/odeworld.h>
+
#include "sceneserver/basenode.h"
#include "sceneserver/camera.h"
#include "sceneserver/fpscontroller.h"
Modified: trunk/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/body.cpp 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/body.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -339,7 +339,7 @@
// direction: (1=x, 2=y, 3=z)
int direction = 3;
- dMassSetCappedCylinder (&mass, density, direction, radius, length);
+ dMassSetCapsule (&mass, density, direction, radius, length);
}
void Body::SetCappedCylinder (float density, float radius, float length)
@@ -361,7 +361,7 @@
// direction: (1=x, 2=y, 3=z)
int direction = 3;
- dMassSetCappedCylinderTotal(&mass, total_mass, direction, radius, length);
+ dMassSetCapsuleTotal(&mass, total_mass, direction, radius, length);
}
void Body::SetCappedCylinderTotal(float total_mass, float radius, float length)
Modified: trunk/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/body.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/body.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -23,7 +23,7 @@
#define OXYGEN_BODY_H
#include <oxygen/oxygen_defines.h>
-#include "odeobject.h"
+#include <oxygen/physicsserver/ode/odeobject.h>
namespace oxygen
{
Modified: trunk/spark/lib/oxygen/physicsserver/boxcollider.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/boxcollider.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/boxcollider.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -23,7 +23,7 @@
#define OXYGEN_BOXCOLLIDER_H
#include <oxygen/oxygen_defines.h>
-#include "collider.h"
+#include <oxygen/physicsserver/collider.h>
namespace oxygen
{
Modified: trunk/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/collider.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/collider.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -22,7 +22,7 @@
#ifndef OXYGEN_COLLIDER_H
#define OXYGEN_COLLIDER_H
-#include "odeobject.h"
+#include <oxygen/physicsserver/ode/odeobject.h>
#include <string>
#include <set>
#include <oxygen/oxygen_defines.h>
Modified: trunk/spark/lib/oxygen/physicsserver/collisionhandler.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/collisionhandler.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/collisionhandler.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -24,7 +24,7 @@
#include <oxygen/sceneserver/basenode.h>
#include <oxygen/oxygen_defines.h>
-#include "odewrapper.h"
+#include <oxygen/physicsserver/ode/odewrapper.h>
namespace oxygen
{
Added: trunk/spark/lib/oxygen/physicsserver/imp/worldimp.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/imp/worldimp.h (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/imp/worldimp.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -0,0 +1,116 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: world.h 56 2009-03-17 18:03:47Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_WORLDIMP_H
+#define OXYGEN_WORLDIMP_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/ode/odeobject.h>
+
+namespace oxygen
+{
+
+/** World encapsulates an ODE world object. It is a container for
+ rigid bodies and joints. Objects in different worlds can not
+ interact, for example rigid bodies from two different worlds can
+ not collide. All the objects in a world exist at the same point in
+ time, thus one reason to use separate worlds is to simulate
+ systems at different rates.
+*/
+class OXYGEN_API WorldImp : public ODEObject
+{
+ //
+ // Functions
+ //
+public:
+ WorldImp() : ODEObject(){};
+ virtual ~WorldImp(){};
+
+ /** returns the ID of the managed ODE world */
+ virtual dWorldID GetODEWorldImp() const = 0;
+
+ /** sets the gravity vector of this vorld */
+ virtual void SetGravityImp(const salt::Vector3f& gravity) = 0;
+
+ /** gets the gravity vector of this world */
+ virtual salt::Vector3f GetGravityImp() const = 0;
+
+ /** sets the Error Reduction Parameter of this world. The ERP
+ specifies what proportion of a joint error will be fixed
+ during the next simulation step. if ERP=0 then no correcting
+ force is applied and the bodies will eventually drift apart as
+ the simulation proceeds. If ERP=1 then the simulation will
+ attempt to fix all joint error during the next time
+ step. However, setting ERP=1 is not recommended, as the joint
+ error will not be completely fixed due to various internal
+ approximations. A value of ERP=0.1 to 0.8 is recommended (0.2
+ is the default).
+ */
+ virtual void SetERPImp(float erp) = 0;
+
+ /** returns the Error Reduction Parameter of this World.
+ */
+ virtual float GetERPImp() const = 0;
+
+ /** sets the Constraint Force mixing (CFM) value. If CFM is set to
+ zero, the constraint will be hard. If CFM is set to a positive
+ value, it will be possible to violate the constraint by
+ `pushing on it' (for example, for contact constraints by
+ forcing the two contacting objects together). In other words
+ the constraint will be soft, and the softness will increase as
+ CFM increases. Note that setting CFM to a negative value can
+ have undesirable bad effects, such as instability.
+ */
+ virtual void SetCFMImp(float cfm) = 0;
+
+ /** returns the Constraint Force mixing (CFM) value. */
+ virtual float GetCFMImp() const = 0;
+
+ /** steps the world deltatime forward, i.e. performs physics
+ simulation for a deltaTime seconds interval.
+ */
+ virtual void StepImp(float deltaTime) = 0;
+
+ virtual bool GetAutoDisableFlagImp() const = 0;
+ virtual void SetAutoDisableFlagImp(bool flag) = 0;
+
+ /** Set and get the depth of the surface layer around all geometry
+ objects. Contacts are allowed to sink into the surface layer up to
+ the given depth before coming to rest. The default value is
+ zero. Increasing this to some small value (e.g. 0.001) can help
+ prevent jittering problems due to contacts being repeatedly made
+ and broken.
+ */
+ virtual void SetContactSurfaceLayerImp(float depth) = 0;
+ virtual float GetContactSurfaceLayerImp() const = 0;
+
+ /** destroy the managed ODE object */
+ virtual void DestroyODEObjectImp() = 0;
+
+ /** creates them managed ODE world */
+ virtual bool ConstructInternalImp() = 0;
+};
+
+DECLARE_ABSTRACTCLASS(WorldImp);
+
+}
+
+#endif //OXYGEN_WORLDIMP_H
Added: trunk/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+this file is part of rcssserver3D
+Fri May 9 2003
+Copyright (C) 2003 Koblenz University
+$Id: world_c.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; version 2 of the License.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include <oxygen/physicsserver/imp/worldimp.h>
+
+using namespace oxygen;
+
+void CLASS(WorldImp)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/ODEObject);
+}
Modified: trunk/spark/lib/oxygen/physicsserver/joint.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/joint.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/joint.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -23,7 +23,7 @@
#define OXYGEN_JOINT_H
#include <oxygen/oxygen_defines.h>
-#include "odeobject.h"
+#include <oxygen/physicsserver/ode/odeobject.h>
namespace oxygen
{
Added: trunk/spark/lib/oxygen/physicsserver/ode/odeobject.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeobject.cpp (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/ode/odeobject.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -0,0 +1,167 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include <oxygen/physicsserver/ode/odeobject.h>
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/physicsserver/world.h>
+#include <oxygen/sceneserver/scene.h>
+#include <zeitgeist/logserver/logserver.h>
+
+using namespace oxygen;
+using namespace boost;
+
+ODEObject::ODEObject() : BaseNode()
+{
+}
+
+ODEObject::~ODEObject()
+{
+}
+
+void ODEObject::OnUnlink()
+{
+ DestroyODEObject();
+}
+
+/** returns the world node */
+shared_ptr<World> ODEObject::GetWorld()
+{
+ shared_ptr<Scene> scene = GetScene();
+ if (scene.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
+ return shared_ptr<World>();
+ }
+
+ shared_ptr<World> worldNode = shared_dynamic_cast<World>
+ (scene->GetChildOfClass("World"));
+ if (worldNode.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no World node\n";
+ }
+
+ return worldNode;
+}
+
+shared_ptr<Space> ODEObject::GetSpace()
+{
+ // try to find the nearest parent space object
+ weak_ptr<Space> parentSpace = FindParentSupportingClass<Space>();
+ if (! parentSpace.expired())
+ {
+ return parentSpace.lock();
+ }
+
+ // return the global space instance
+ shared_ptr<Scene> scene = GetScene();
+ if (scene.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
+ return shared_ptr<Space>();
+ }
+
+ shared_ptr<Space> spaceNode = shared_dynamic_cast<Space>
+ (scene->GetChildOfClass("Space"));
+ if (spaceNode.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no Space node\n";
+ }
+
+ return spaceNode;
+}
+
+dWorldID ODEObject::GetWorldID()
+{
+ shared_ptr<World> world = GetWorld();
+ if (world.get() == 0)
+ {
+ return 0;
+ }
+
+ dWorldID worldId = world->GetODEWorld();
+ if (worldId == 0)
+ {
+ GetLog()->Error()
+ << "(ODEObject) ERROR: World returned empty ODE handle\n";
+ }
+
+ return worldId;
+}
+
+dSpaceID ODEObject::FindSpaceID()
+{
+ shared_ptr<Space> space = GetSpace();
+ if (space.get() == 0)
+ {
+ return 0;
+ }
+
+ dSpaceID spaceId = space->GetODESpace();
+
+ if (spaceId == 0)
+ {
+ GetLog()->Error()
+ << "(ODEObject) ERROR: Space returned empty ODE handle\n";
+ }
+
+ return spaceId;
+}
+
+dSpaceID ODEObject::GetParentSpaceID()
+{
+ return 0;
+}
+
+void ODEObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
+{
+ matrix[0] = rot.m[0];
+ matrix[1] = rot.m[4];
+ matrix[2] = rot.m[8];
+ matrix[3] = 0;
+ matrix[4] = rot.m[1];
+ matrix[5] = rot.m[5];
+ matrix[6] = rot.m[9];
+ matrix[7] = 0;
+ matrix[8] = rot.m[2];
+ matrix[9] = rot.m[6];
+ matrix[10] = rot.m[10];
+ matrix[11] = 0;
+}
+
+void ODEObject::ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const
+{
+ rot.m[0] = matrix[0] ;
+ rot.m[4] = matrix[1] ;
+ rot.m[8] = matrix[2];
+ rot.m[12] = matrix[3];
+ rot.m[1] = matrix[4];
+ rot.m[5] = matrix[5];
+ rot.m[9] = matrix[6];
+ rot.m[13] = matrix[7];
+ rot.m[2] = matrix[8];
+ rot.m[6] = matrix[9];
+ rot.m[10] = matrix[10] ;
+ rot.m[14] = matrix[11];
+ rot.m[3] = 0.0;
+ rot.m[7] = 0.0;
+ rot.m[11] = 0.0;
+ rot.m[15] = 1.0;
+}
Added: trunk/spark/lib/oxygen/physicsserver/ode/odeobject.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeobject.h (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/ode/odeobject.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -0,0 +1,83 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
+ $Id: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_ODEOBJECT_H
+#define OXYGEN_ODEOBJECT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/sceneserver/basenode.h>
+#include <oxygen/physicsserver/ode/odewrapper.h>
+
+namespace oxygen
+{
+class Space;
+class World;
+
+/** ODEObject is the base of all classes encapsulating ODE concepts
+ */
+class OXYGEN_API ODEObject : public BaseNode
+{
+public:
+ //
+ // Functions
+ //
+ ODEObject();
+ virtual ~ODEObject();
+
+ /** This rountine is called, before the hierarchy object is
+ removed from the parent. It can be overridden to support
+ custom 'unlink' behavior.
+ */
+ virtual void OnUnlink();
+
+ /** returns the ODE world handle */
+ dWorldID GetWorldID();
+
+ /** returns the nearest parent space ODE handle */
+ dSpaceID FindSpaceID();
+
+ /** returns the ODE handle ID of the containing parent space */
+ virtual dSpaceID GetParentSpaceID();
+
+ /** destroy the managed ODE object */
+ virtual void DestroyODEObject(){};
+
+protected:
+ /** returns the world node */
+ boost::shared_ptr<World> GetWorld();
+
+ /** finds the nearest parent space node */
+ boost::shared_ptr<Space> GetSpace();
+
+ /** converts the rotation part of a salt::Matrix to an ODE
+ dMatrix3 */
+ void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
+
+ /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
+ void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
+};
+
+DECLARE_ABSTRACTCLASS(ODEObject);
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEOBJECT_H
Added: trunk/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -0,0 +1,29 @@
+/* -*- mode: c++ -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: odeobject_c.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include <oxygen/physicsserver/ode/odeobject.h>
+
+using namespace oxygen;
+
+void CLASS(ODEObject)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/BaseNode);
+}
Added: trunk/spark/lib/oxygen/physicsserver/ode/odeworld.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeworld.cpp (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/ode/odeworld.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -0,0 +1,138 @@
+/* -*- mode: c++ -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: world.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include <oxygen/physicsserver/ode/odeworld.h>
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/sceneserver/scene.h>
+
+using namespace boost;
+using namespace oxygen;
+using namespace salt;
+
+ODEWorld::ODEWorld() : WorldImp(), mODEWorld(0)
+{
+}
+
+ODEWorld::~ODEWorld()
+{
+}
+
+dWorldID ODEWorld::GetODEWorldImp() const
+{
+ return mODEWorld;
+}
+
+void ODEWorld::SetGravityImp(const Vector3f& gravity)
+{
+ dWorldSetGravity(mODEWorld,
+ gravity.x(),
+ gravity.y(),
+ gravity.z()
+ );
+}
+
+salt::Vector3f ODEWorld::GetGravityImp() const
+{
+ dVector3 dGravity;
+ dWorldGetGravity(mODEWorld,dGravity);
+ return Vector3f(dGravity[0],dGravity[1],dGravity[2]);
+}
+
+void ODEWorld::SetERPImp(float erp)
+{
+ dWorldSetERP(mODEWorld, erp);
+}
+
+float ODEWorld::GetERPImp() const
+{
+ return dWorldGetERP(mODEWorld);
+}
+
+void ODEWorld::SetCFMImp(float cfm)
+{
+ dWorldSetCFM(mODEWorld, cfm);
+}
+
+float ODEWorld::GetCFMImp() const
+{
+ return dWorldGetCFM(mODEWorld);
+}
+
+void ODEWorld::StepImp(float deltaTime)
+{
+ dWorldStep(mODEWorld, deltaTime);
+}
+
+bool ODEWorld::GetAutoDisableFlagImp() const
+{
+ return (dWorldGetAutoDisableFlag(mODEWorld) == 1);
+}
+
+void ODEWorld::SetAutoDisableFlagImp(bool flag)
+{
+ dWorldSetAutoDisableFlag(mODEWorld, static_cast<int>(flag));
+}
+
+void ODEWorld::SetContactSurfaceLayerImp(float depth)
+{
+ dWorldSetContactSurfaceLayer(mODEWorld, depth);
+}
+
+float ODEWorld::GetContactSurfaceLayerImp() const
+{
+ return dWorldGetContactSurfaceLayer(mODEWorld);
+}
+
+bool ODEWorld::ConstructInternalImp()
+{
+ // create an ode world
+ mODEWorld = dWorldCreate();
+
+ return (mODEWorld != 0);
+}
+
+void ODEWorld::DestroyODEObjectImp()
+{
+ static bool recurseLock = false;
+ if (recurseLock)
+ {
+ return;
+ }
+
+ recurseLock = true;
+
+ shared_ptr<Space> space = GetSpace();
+ if (space.get() != 0)
+ {
+ space->DestroyODEObject();
+ }
+
+ if (mODEWorld == 0)
+ {
+ return;
+ }
+
+ // release the ODE world
+ dWorldDestroy(mODEWorld);
+ mODEWorld = 0;
+
+ recurseLock = false;
+}
Added: trunk/spark/lib/oxygen/physicsserver/ode/odeworld.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeworld.h (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/ode/odeworld.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -0,0 +1,124 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: world.h 56 2009-03-17 18:03:47Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_ODEWORLD_H
+#define OXYGEN_ODEWORLD_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/imp/worldimp.h>
+
+namespace oxygen
+{
+
+/** World encapsulates an ODE world object. It is a container for
+ rigid bodies and joints. Objects in different worlds can not
+ interact, for example rigid bodies from two different worlds can
+ not collide. All the objects in a world exist at the same point in
+ time, thus one reason to use separate worlds is to simulate
+ systems at different rates.
+*/
+class OXYGEN_API ODEWorld : public WorldImp
+{
+ //
+ // Functions
+ //
+public:
+ ODEWorld();
+ virtual ~ODEWorld();
+
+ /** returns the ID of the managed ODE world */
+ dWorldID GetODEWorldImp() const;
+
+ /** sets the gravity vector of this vorld */
+ void SetGravityImp(const salt::Vector3f& gravity);
+
+ /** gets the gravity vector of this world */
+ salt::Vector3f GetGravityImp() const;
+
+ /** sets the Error Reduction Parameter of this world. The ERP
+ specifies what proportion of a joint error will be fixed
+ during the next simulation step. if ERP=0 then no correcting
+ force is applied and the bodies will eventually drift apart as
+ the simulation proceeds. If ERP=1 then the simulation will
+ attempt to fix all joint error during the next time
+ step. However, setting ERP=1 is not recommended, as the joint
+ error will not be completely fixed due to various internal
+ approximations. A value of ERP=0.1 to 0.8 is recommended (0.2
+ is the default).
+ */
+ void SetERPImp(float erp);
+
+ /** returns the Error Reduction Parameter of this World.
+ */
+ float GetERPImp() const;
+
+ /** sets the Constraint Force mixing (CFM) value. If CFM is set to
+ zero, the constraint will be hard. If CFM is set to a positive
+ value, it will be possible to violate the constraint by
+ `pushing on it' (for example, for contact constraints by
+ forcing the two contacting objects together). In other words
+ the constraint will be soft, and the softness will increase as
+ CFM increases. Note that setting CFM to a negative value can
+ have undesirable bad effects, such as instability.
+ */
+ void SetCFMImp(float cfm);
+
+ /** returns the Constraint Force mixing (CFM) value. */
+ float GetCFMImp() const;
+
+ /** steps the world deltatime forward, i.e. performs physics
+ simulation for a deltaTime seconds interval.
+ */
+ void StepImp(float deltaTime);
+
+ bool GetAutoDisableFlagImp() const;
+ void SetAutoDisableFlagImp(bool flag);
+
+ /** Set and get the depth of the surface layer around all geometry
+ objects. Contacts are allowed to sink into the surface layer up to
+ the given depth before coming to rest. The default value is
+ zero. Increasing this to some small value (e.g. 0.001) can help
+ prevent jittering problems due to contacts being repeatedly made
+ and broken.
+ */
+ void SetContactSurfaceLayerImp(float depth);
+ float GetContactSurfaceLayerImp() const;
+
+ /** destroy the managed ODE object */
+ virtual void DestroyODEObjectImp();
+
+protected:
+ /** creates them managed ODE world */
+ virtual bool ConstructInternalImp();
+
+ //
+ // Members
+ //
+private:
+ /** the dynamics world represented by this object */
+ dWorldID mODEWorld;
+};
+
+DECLARE_CLASS(ODEWorld);
+
+};
+
+#endif //OXYGEN_WORLD_H
Added: trunk/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+this file is part of rcssserver3D
+Fri May 9 2003
+Copyright (C) 2003 Koblenz University
+$Id: world_c.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; version 2 of the License.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include <oxygen/physicsserver/ode/odeworld.h>
+
+using namespace oxygen;
+
+void CLASS(ODEWorld)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/WorldImp);
+}
Added: trunk/spark/lib/oxygen/physicsserver/ode/odewrapper.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odewrapper.h (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/ode/odewrapper.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -0,0 +1,80 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: odewrapper.h 3 2008-11-21 02:38:08Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_ODEWRAPPER_H
+#define OXYGEN_ODEWRAPPER_H
+
+#undef EXTERN
+#undef HAVE_VPRINTF
+#undef PACKAGE
+#undef PACKAGE_BUGREPORT
+#undef PACKAGE_NAME
+#undef PACKAGE_STRING
+#undef PACKAGE_TARNAME
+#undef PACKAGE_VERSION
+#undef PREFIX
+#undef VERSION
+
+#ifdef WIN32
+
+#ifdef copysignf
+#undef copysignf
+#endif
+
+#ifdef copysign
+#undef copysign
+#endif
+
+#endif // WIN32
+
+#ifdef __APPLE__
+
+// there is a conflicting type in a system header (Leopard)
+// so we define a dummy here
+#define uint32 dummy
+
+#endif
+
+#include <ode/ode.h>
+
+#ifdef __APPLE__
+
+// undefine the dummy
+#undef uint32
+
+#endif
+
+#undef EXTERN
+#undef HAVE_VPRINTF
+#undef PACKAGE
+#undef PACKAGE_BUGREPORT
+#undef PACKAGE_NAME
+#undef PACKAGE_STRING
+#undef PACKAGE_TARNAME
+#undef PACKAGE_VERSION
+#undef PREFIX
+#undef VERSION
+
+#ifdef HAVE_CONFIG_H
+#include <sparkconfig.h>
+#endif
+
+#endif // OXYGEN_ODEWRAPPER
Deleted: trunk/spark/lib/oxygen/physicsserver/odeobject.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odeobject.cpp 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/odeobject.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -1,167 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2002,2003 Koblenz University
- Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id$
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-#include "odeobject.h"
-#include "space.h"
-#include "world.h"
-#include <oxygen/sceneserver/scene.h>
-#include <zeitgeist/logserver/logserver.h>
-
-using namespace oxygen;
-using namespace boost;
-
-ODEObject::ODEObject() : BaseNode()
-{
-}
-
-ODEObject::~ODEObject()
-{
-}
-
-void ODEObject::OnUnlink()
-{
- DestroyODEObject();
-}
-
-/** returns the world node */
-shared_ptr<World> ODEObject::GetWorld()
-{
- shared_ptr<Scene> scene = GetScene();
- if (scene.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
- return shared_ptr<World>();
- }
-
- shared_ptr<World> worldNode = shared_dynamic_cast<World>
- (scene->GetChildOfClass("World"));
- if (worldNode.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no World node\n";
- }
-
- return worldNode;
-}
-
-shared_ptr<Space> ODEObject::GetSpace()
-{
- // try to find the nearest parent space object
- weak_ptr<Space> parentSpace = FindParentSupportingClass<Space>();
- if (! parentSpace.expired())
- {
- return parentSpace.lock();
- }
-
- // return the global space instance
- shared_ptr<Scene> scene = GetScene();
- if (scene.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
- return shared_ptr<Space>();
- }
-
- shared_ptr<Space> spaceNode = shared_dynamic_cast<Space>
- (scene->GetChildOfClass("Space"));
- if (spaceNode.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Space node\n";
- }
-
- return spaceNode;
-}
-
-dWorldID ODEObject::GetWorldID()
-{
- shared_ptr<World> world = GetWorld();
- if (world.get() == 0)
- {
- return 0;
- }
-
- dWorldID worldId = world->GetODEWorld();
- if (worldId == 0)
- {
- GetLog()->Error()
- << "(ODEObject) ERROR: World returned empty ODE handle\n";
- }
-
- return worldId;
-}
-
-dSpaceID ODEObject::FindSpaceID()
-{
- shared_ptr<Space> space = GetSpace();
- if (space.get() == 0)
- {
- return 0;
- }
-
- dSpaceID spaceId = space->GetODESpace();
-
- if (spaceId == 0)
- {
- GetLog()->Error()
- << "(ODEObject) ERROR: Space returned empty ODE handle\n";
- }
-
- return spaceId;
-}
-
-dSpaceID ODEObject::GetParentSpaceID()
-{
- return 0;
-}
-
-void ODEObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
-{
- matrix[0] = rot.m[0];
- matrix[1] = rot.m[4];
- matrix[2] = rot.m[8];
- matrix[3] = 0;
- matrix[4] = rot.m[1];
- matrix[5] = rot.m[5];
- matrix[6] = rot.m[9];
- matrix[7] = 0;
- matrix[8] = rot.m[2];
- matrix[9] = rot.m[6];
- matrix[10] = rot.m[10];
- matrix[11] = 0;
-}
-
-void ODEObject::ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const
-{
- rot.m[0] = matrix[0] ;
- rot.m[4] = matrix[1] ;
- rot.m[8] = matrix[2];
- rot.m[12] = matrix[3];
- rot.m[1] = matrix[4];
- rot.m[5] = matrix[5];
- rot.m[9] = matrix[6];
- rot.m[13] = matrix[7];
- rot.m[2] = matrix[8];
- rot.m[6] = matrix[9];
- rot.m[10] = matrix[10] ;
- rot.m[14] = matrix[11];
- rot.m[3] = 0.0;
- rot.m[7] = 0.0;
- rot.m[11] = 0.0;
- rot.m[15] = 1.0;
-}
Deleted: trunk/spark/lib/oxygen/physicsserver/odeobject.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odeobject.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/odeobject.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -1,83 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2002,2003 Koblenz University
- Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id$
- $Id$
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-#ifndef OXYGEN_ODEOBJECT_H
-#define OXYGEN_ODEOBJECT_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/sceneserver/basenode.h>
-#include "odewrapper.h"
-
-namespace oxygen
-{
-class Space;
-class World;
-
-/** ODEObject is the base of all classes encapsulating ODE concepts
- */
-class OXYGEN_API ODEObject : public BaseNode
-{
-public:
- //
- // Functions
- //
- ODEObject();
- virtual ~ODEObject();
-
- /** This rountine is called, before the hierarchy object is
- removed from the parent. It can be overridden to support
- custom 'unlink' behavior.
- */
- virtual void OnUnlink();
-
- /** returns the ODE world handle */
- dWorldID GetWorldID();
-
- /** returns the nearest parent space ODE handle */
- dSpaceID FindSpaceID();
-
- /** returns the ODE handle ID of the containing parent space */
- virtual dSpaceID GetParentSpaceID();
-
- /** destroy the managed ODE object */
- virtual void DestroyODEObject() = 0;
-
-protected:
- /** returns the world node */
- boost::shared_ptr<World> GetWorld();
-
- /** finds the nearest parent space node */
- boost::shared_ptr<Space> GetSpace();
-
- /** converts the rotation part of a salt::Matrix to an ODE
- dMatrix3 */
- void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
-
- /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
- void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
-};
-
-DECLARE_ABSTRACTCLASS(ODEObject);
-
-} //namespace oxygen
-
-#endif //OXYGEN_ODEOBJECT_H
Deleted: trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -1,29 +0,0 @@
-/* -*- mode: c++ -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2003 Koblenz University
- $Id$
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-
-#include "odeobject.h"
-
-using namespace oxygen;
-
-void CLASS(ODEObject)::DefineClass()
-{
- DEFINE_BASECLASS(oxygen/BaseNode);
-}
Deleted: trunk/spark/lib/oxygen/physicsserver/odewrapper.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odewrapper.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/odewrapper.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -1,80 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2002,2003 Koblenz University
- Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id$
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-#ifndef OXYGEN_ODEWRAPPER_H
-#define OXYGEN_ODEWRAPPER_H
-
-#undef EXTERN
-#undef HAVE_VPRINTF
-#undef PACKAGE
-#undef PACKAGE_BUGREPORT
-#undef PACKAGE_NAME
-#undef PACKAGE_STRING
-#undef PACKAGE_TARNAME
-#undef PACKAGE_VERSION
-#undef PREFIX
-#undef VERSION
-
-#ifdef WIN32
-
-#ifdef copysignf
-#undef copysignf
-#endif
-
-#ifdef copysign
-#undef copysign
-#endif
-
-#endif // WIN32
-
-#ifdef __APPLE__
-
-// there is a conflicting type in a system header (Leopard)
-// so we define a dummy here
-#define uint32 dummy
-
-#endif
-
-#include <ode/ode.h>
-
-#ifdef __APPLE__
-
-// undefine the dummy
-#undef uint32
-
-#endif
-
-#undef EXTERN
-#undef HAVE_VPRINTF
-#undef PACKAGE
-#undef PACKAGE_BUGREPORT
-#undef PACKAGE_NAME
-#undef PACKAGE_STRING
-#undef PACKAGE_TARNAME
-#undef PACKAGE_VERSION
-#undef PREFIX
-#undef VERSION
-
-#ifdef HAVE_CONFIG_H
-#include <sparkconfig.h>
-#endif
-
-#endif // OXYGEN_ODEWRAPPER
Modified: trunk/spark/lib/oxygen/physicsserver/physicsserver.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/physicsserver.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/physicsserver.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -25,7 +25,7 @@
#include <zeitgeist/class.h>
#include <zeitgeist/leaf.h>
#include <oxygen/oxygen_defines.h>
-#include "odewrapper.h"
+#include <oxygen/physicsserver/ode/odewrapper.h>
namespace oxygen
{
Modified: trunk/spark/lib/oxygen/physicsserver/space.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/space.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/space.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -22,7 +22,7 @@
#ifndef OXYGEN_SPACE_H
#define OXYGEN_SPACE_H
-#include "odeobject.h"
+#include <oxygen/physicsserver/ode/odeobject.h>
#include <set>
#include <oxygen/oxygen_defines.h>
Modified: trunk/spark/lib/oxygen/physicsserver/world.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/world.cpp 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/world.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -19,16 +19,19 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-#include "world.h"
-#include "space.h"
+#include <oxygen/physicsserver/ode/odeworld.h>
+#include <oxygen/physicsserver/world.h>
+#include <oxygen/physicsserver/space.h>
#include <oxygen/sceneserver/scene.h>
using namespace boost;
using namespace oxygen;
using namespace salt;
-World::World() : ODEObject(), mODEWorld(0)
+World::World() : ODEObject()
{
+ shared_ptr<ODEWorld> odeworld(new ODEWorld());
+ mWorldImp = (shared_dynamic_cast<WorldImp>(odeworld));
}
World::~World()
@@ -37,102 +40,70 @@
dWorldID World::GetODEWorld() const
{
- return mODEWorld;
+ return mWorldImp->GetODEWorldImp();
}
void World::SetGravity(const Vector3f& gravity)
{
- dWorldSetGravity(mODEWorld,
- gravity.x(),
- gravity.y(),
- gravity.z()
- );
+ mWorldImp->SetGravityImp(gravity);
}
salt::Vector3f World::GetGravity() const
{
- dVector3 dGravity;
- dWorldGetGravity(mODEWorld,dGravity);
- return Vector3f(dGravity[0],dGravity[1],dGravity[2]);
+ return mWorldImp->GetGravityImp();
}
void World::SetERP(float erp)
{
- dWorldSetERP(mODEWorld, erp);
+ mWorldImp->SetERPImp(erp);
}
float World::GetERP() const
{
- return dWorldGetERP(mODEWorld);
+ return mWorldImp->GetERPImp();
}
void World::SetCFM(float cfm)
{
- dWorldSetCFM(mODEWorld, cfm);
+ mWorldImp->SetCFMImp(cfm);
}
float World::GetCFM() const
{
- return dWorldGetCFM(mODEWorld);
+ return mWorldImp->GetCFMImp();
}
void World::Step(float deltaTime)
{
- dWorldStep(mODEWorld, deltaTime);
+ mWorldImp->StepImp(deltaTime);
}
bool World::GetAutoDisableFlag() const
{
- return (dWorldGetAutoDisableFlag(mODEWorld) == 1);
+ return mWorldImp->GetAutoDisableFlagImp();
}
void World::SetAutoDisableFlag(bool flag)
{
- dWorldSetAutoDisableFlag(mODEWorld, static_cast<int>(flag));
+ mWorldImp->SetAutoDisableFlagImp(flag);
}
void World::SetContactSurfaceLayer(float depth)
{
- dWorldSetContactSurfaceLayer(mODEWorld, depth);
+ mWorldImp->SetContactSurfaceLayerImp(depth);
}
float World::GetContactSurfaceLayer() const
{
- return dWorldGetContactSurfaceLayer(mODEWorld);
+ return mWorldImp->GetContactSurfaceLayerImp();
}
bool World::ConstructInternal()
{
- // create an ode world
- mODEWorld = dWorldCreate();
-
- return (mODEWorld != 0);
+ return mWorldImp->ConstructInternalImp();
}
void World::DestroyODEObject()
{
- static bool recurseLock = false;
- if (recurseLock)
- {
- return;
- }
-
- recurseLock = true;
-
- shared_ptr<Space> space = GetSpace();
- if (space.get() != 0)
- {
- space->DestroyODEObject();
- }
-
- if (mODEWorld == 0)
- {
- return;
- }
-
- // release the ODE world
- dWorldDestroy(mODEWorld);
- mODEWorld = 0;
-
- recurseLock = false;
+ mWorldImp->DestroyODEObjectImp();
}
Modified: trunk/spark/lib/oxygen/physicsserver/world.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/world.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/world.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -23,11 +23,14 @@
#define OXYGEN_WORLD_H
#include <oxygen/oxygen_defines.h>
-#include "odeobject.h"
+#include <oxygen/physicsserver/ode/odeobject.h>
namespace oxygen
{
+class WorldImp;
+class ODEWorld;
+
/** World encapsulates an ODE world object. It is a container for
rigid bodies and joints. Objects in different worlds can not
interact, for example rigid bodies from two different worlds can
@@ -113,12 +116,11 @@
// Members
//
private:
- /** the dynamics world represented by this object */
- dWorldID mODEWorld;
+ boost::shared_ptr<WorldImp> mWorldImp;
};
DECLARE_CLASS(World);
-};
+}
#endif //OXYGEN_WORLD_H
Modified: trunk/spark/lib/oxygen/physicsserver/world_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/world_c.cpp 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/lib/oxygen/physicsserver/world_c.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -19,7 +19,7 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-#include "world.h"
+#include <oxygen/physicsserver/world.h>
using namespace boost;
using namespace oxygen;
Modified: trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp
===================================================================
--- trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp 2009-11-17 11:29:29 UTC (rev 99)
@@ -21,7 +21,7 @@
*/
#include "forceresistanceperceptor.h"
-#include <oxygen/physicsserver/odewrapper.h>
+#include <oxygen/physicsserver/ode/odewrapper.h>
#include <oxygen/sceneserver/transform.h>
using namespace std;
Modified: trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.h
===================================================================
--- trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.h 2009-11-16 10:24:11 UTC (rev 98)
+++ trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.h 2009-11-17 11:29:29 UTC (rev 99)
@@ -24,7 +24,7 @@
#define FORCERESISTANCEPERCEPTOR_H_
#include <oxygen/agentaspect/perceptor.h>
-#include <oxygen/physicsserver/odewrapper.h>
+#include <oxygen/physicsserver/ode/odewrapper.h>
#include <oxygen/sceneserver/transform.h>
#include <salt/vector.h>
#include <list>
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
